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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><code>#include &lt;<a class="el" href="sim3_8h_source.html">sim3.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aad881b9ea79640adac90d8ae58b4a5f0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_sim3.html">Sim3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#aad881b9ea79640adac90d8ae58b4a5f0">inverse</a> () const</td></tr>
<tr class="separator:aad881b9ea79640adac90d8ae58b4a5f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63fedc1606012b8ce197554f6489080b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">log</a> () const</td></tr>
<tr class="separator:a63fedc1606012b8ce197554f6489080b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a577ba985864cab536688123df6063b39"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">map</a> (const Vector3d &amp;xyz) const</td></tr>
<tr class="separator:a577ba985864cab536688123df6063b39"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21866660d0feb2143033b250134ff2e1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_sim3.html">Sim3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a21866660d0feb2143033b250134ff2e1">operator *</a> (const <a class="el" href="structg2o_1_1_sim3.html">Sim3</a> &amp;other) const</td></tr>
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<tr class="memitem:a6543e41cd4dbf1868c0b89c83c3810d3"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structg2o_1_1_sim3.html">Sim3</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a6543e41cd4dbf1868c0b89c83c3810d3">operator *=</a> (const <a class="el" href="structg2o_1_1_sim3.html">Sim3</a> &amp;other)</td></tr>
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<tr class="memitem:a39eb382deb0f9c006d18b9e5241ac076"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a39eb382deb0f9c006d18b9e5241ac076">operator[]</a> (int i) const</td></tr>
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<tr class="memitem:ac48ebd09209c2484896f2dfe8bc673bf"><td class="memItemLeft" align="right" valign="top">double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#ac48ebd09209c2484896f2dfe8bc673bf">operator[]</a> (int i)</td></tr>
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<tr class="memitem:a617d35def39dbe374432980982bb9073"><td class="memItemLeft" align="right" valign="top">const Quaterniond &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a617d35def39dbe374432980982bb9073">rotation</a> () const</td></tr>
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<tr class="memitem:a4528a501c958cd71fcc6fdef74db99cc"><td class="memItemLeft" align="right" valign="top">Quaterniond &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a4528a501c958cd71fcc6fdef74db99cc">rotation</a> ()</td></tr>
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<tr class="memitem:a1eede88e7b9485c1de90a0c79cb095a3"><td class="memItemLeft" align="right" valign="top">const double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a1eede88e7b9485c1de90a0c79cb095a3">scale</a> () const</td></tr>
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<tr class="memitem:a062649c3de81c514518e1095c0e49eeb"><td class="memItemLeft" align="right" valign="top">double &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a062649c3de81c514518e1095c0e49eeb">scale</a> ()</td></tr>
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<tr class="memitem:adf1277575fc039d1ae643ae018e464fe"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#adf1277575fc039d1ae643ae018e464fe">Sim3</a> ()</td></tr>
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<tr class="memitem:a3f7bc6953078a87865575192221def7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a3f7bc6953078a87865575192221def7e">Sim3</a> (const Quaterniond &amp;<a class="el" href="structg2o_1_1_sim3.html#a55dbe5c6ffe22526f20e05f0c23aa832">r</a>, const Vector3d &amp;<a class="el" href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">t</a>, double <a class="el" href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">s</a>)</td></tr>
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<tr class="memitem:a8163b7b417a91a758b10593929bae6c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a8163b7b417a91a758b10593929bae6c5">Sim3</a> (const Matrix3d &amp;R, const Vector3d &amp;<a class="el" href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">t</a>, double <a class="el" href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">s</a>)</td></tr>
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<tr class="memitem:a252f62d72e8449ecc929a6ca0320fcbc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a252f62d72e8449ecc929a6ca0320fcbc">Sim3</a> (const <a class="el" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a> &amp;update)</td></tr>
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<tr class="memitem:a835afb1f821f19ad4ef3c7c2408c8660"><td class="memItemLeft" align="right" valign="top">const Vector3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a835afb1f821f19ad4ef3c7c2408c8660">translation</a> () const</td></tr>
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<tr class="memitem:a1429af2d97c44cd364d748ef07998593"><td class="memItemLeft" align="right" valign="top">Vector3d &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a1429af2d97c44cd364d748ef07998593">translation</a> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a55dbe5c6ffe22526f20e05f0c23aa832"><td class="memItemLeft" align="right" valign="top">Quaterniond&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a55dbe5c6ffe22526f20e05f0c23aa832">r</a></td></tr>
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<tr class="memitem:a2cad7c49340494d4bdd28a497e4cb486"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a2cad7c49340494d4bdd28a497e4cb486">s</a></td></tr>
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<tr class="memitem:a3ef879fb13b88732428bd2f2a558d11c"><td class="memItemLeft" align="right" valign="top">Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structg2o_1_1_sim3.html#a3ef879fb13b88732428bd2f2a558d11c">t</a></td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="paramtype">const Quaterniond &amp;&#160;</td>
          <td class="paramname"><em>r</em>, </td>
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          <td class="paramtype">const <a class="el" href="namespaceg2o.html#a4740ec41130f2ecc628c81f71261c8de">Vector7d</a> &amp;&#160;</td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="groupheader">Member Data Documentation</h2>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/Thirdparty/g2o/g2o/types/<a class="el" href="sim3_8h_source.html">sim3.h</a></li>
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